• In BACKDRIVE mode brakes will only be released on individual joints when they are
moved, and will remain released as long as the Freedrive button is pushed. Robot will
be “heavy” to move around compared to Freedrive mode.
• Be sure to test each joint individually, to ensure the brake release as expected.
• Verify safety settings:
• Verify that the safety settings of the robot comply with the Risk Assessment of the
robot installation.
• Test that additional safety inputs and outputs are still functioning:
• Check which safety inputs and outputs are active and test that they can be triggered.
4.1.3. Visual Inspection
• Disconnect power cable from controller
• Check that the terminals on the Safety Control Board are properly inserted and do not have
loose wires
• Check all connections on Motherboard and connection between Safety Control Board and
Motherboard
• Check for any dirt/dust inside of controller, clean with ESD vacuum cleaner if needed
NOTICE
Never use compressed air to clean inside the controller as it can damage
componentss
4.1.4. Cleaning and Replacement of Filters
Original control box
• Controller box has two filters, one mounted on each side of the box.
Service Manual
5
UR5
4. Recommended Inspection Activities
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